Rtabmap: map->odom does not update

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I use RtabMap for mapping, an EKF for odometry and nav2 for autonomous movement. Everything works, but RtabMap doesn't compensate odometry drift in the map->odom transform. The odom frame is always glued to the map frame. I have set publish_tf to true, and map is being generated which looks good, until odometry drift means it doesn't anymore. Would love for Rtabmap to compensate that drift.

Running ROS2 Foxy, feeding RtabMap with 2 RGBD cameras. Built from source, using tag 0.20.15-foxy.

rtabmap params:

subscribe_depth: false
subscribe_rgb: False
subscribe_stereo: False
subscribe_rgbd: True
subscribe_scan: False
approx_sync: True
odom_frame_id: "odom"
map_always_update: False
map_empty_ray_tracing: True
rgbd_cameras: 2
database_path: "/hugoros2/rtabmap.db"
publish_tf: True
Grid/RayTracing: "True"
Grid/RangeMax: "4.0"
Grid/CellSize: "0.1"
Grid/NoiseFilteringRadius: "0.1"
Grid/NoiseFilteringMinNeighbors: "6"
Grid/NormalK: "20"
Grid/DepthDecimation: "1"
GridGlobal/Eroded: "True"
GridGlobal/FootprintRadius: "0.6"
RGBD/AngularUpdate: "0.2"
RGBD/LinearUpdate: "0.2"
RGBD/OptimizeFromGraphEnd: "True"
RGBD/NeighborLinkRefining: "True"
Mem/IncrementalMemory: "True"
Mem/ReduceGraph: "True"
# RGBD/CreateOccupancyGrid: "True"
Reg/Force3DoF: "True"
Kp/MaxFeatures: "200"
Stereo/MaxDisparity: "200"
Vis/CorFlowMaxLevel: "5"
Vis/EstimationType: "0" # should be 0 for multi-camera input
Vis/CorGuessWinSize: "0" # should be 0 for multi-camera input
Odom/ResetCountdown: "10"
OdomF2M/BundleAdjustment: "0" # should be 0 for mult-camera input
SURF/GpuVersion: "True"
Mem/NotLinkedNodesKept: "True"
Mem/BinDataKept: "True"